U.S. patent application number 16/182275 was filed with the patent office on 2019-05-09 for transport system and methods.
The applicant listed for this patent is Comau LLC. Invention is credited to Michael R. Dugas, Velibor Kilibarda, Radomir Senic, Freddie Tappo, Tracy Taylor, Lei Zhou.
Application Number | 20190135549 16/182275 |
Document ID | / |
Family ID | 64362774 |
Filed Date | 2019-05-09 |
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United States Patent
Application |
20190135549 |
Kind Code |
A1 |
Kilibarda; Velibor ; et
al. |
May 9, 2019 |
Transport System and Methods
Abstract
A transport system and method useful for autonomously or
semi-autonomously transporting and positioning materials or
components in an industrial facility. In one example in use for
passenger vehicle body assembly, a transport device includes a lift
device and first and second build devices for alternately
supporting a workpiece. The transport device includes a clearance
opening for passage by the second build device along the path of
travel. The transport device positions the first build device and
workpiece over the second build device and deposits the workpiece
on the lower second build device for processing. When the process
is complete, the first build device re-engages the workpiece for
movement to another workstation.
Inventors: |
Kilibarda; Velibor;
(Southfield, MI) ; Dugas; Michael R.; (Brighton,
MI) ; Zhou; Lei; (Bloomfield Hills, MI) ;
Tappo; Freddie; (Sterling Heights, MI) ; Taylor;
Tracy; (Windsor, CA) ; Senic; Radomir;
(Windsor, CA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Comau LLC |
Southfield |
MI |
US |
|
|
Family ID: |
64362774 |
Appl. No.: |
16/182275 |
Filed: |
November 6, 2018 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
62582379 |
Nov 7, 2017 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B65G 2201/0294 20130101;
B65G 35/06 20130101; B65G 2201/0267 20130101; B62D 65/18 20130101;
B66F 9/065 20130101 |
International
Class: |
B65G 35/06 20060101
B65G035/06; B62D 65/18 20060101 B62D065/18 |
Claims
1. An assembly transport system for use in assembly or logistics
operations, the transport system comprising: a transport device
operable to transport a component along a path of travel in
communication with a workstation, the transport device further
comprising: a frame comprising: a pair of side walls separated
along a Y-axis; and a cross-member connected the pair of frame side
walls, the frame side walls and the cross-member defining a
clearance opening having a clearance opening width along a Y axis
and a clearance opening height along a Z axis through the transport
device along a X axis; a drive system connected to the frame, the
drive system operable to selectively move the transport device
along the path of travel; a manipulator device supported by the
frame, the manipulator device movable relative to the frame; a
carrier connected to the manipulator device operable to support one
of a component or first build device transported by the transport
device; a sensor connected to the frame operable to assist in
navigating movement of the transport device along the path of
travel; and a control system in communication with the sensor, the
drive system and the manipulator device, the control system
operable to autonomously move and navigate the transport device
along the path of travel and the manipulator device relative to the
frame.
2. The transport system of claim 1 wherein the manipulator device
comprises a lift device further comprising: a guide track connected
to each frame side wall extending along the Z axis; a lift support
frame positioned in the clearance opening and engaging each guide
track; a mounting plate connected to the support frame, the
mounting plate operable to engage and support the carrier; a motor
supported by the frame in communication with the lift support frame
and the control system, the motor operable to selectively move the
support frame and mounting plate along the Z axis relative to the
frame.
3. The transport system of claim 2 wherein the carrier further
comprises a first build device operable to engage a component, the
lift device operable to selectively raise and lower the component
between an upper position and a lower position along the Z
axis.
4. The transport system of claim 3 further comprising: a second
build device positioned along the path of travel at a workstation,
the second build device comprising: a second build device width and
a second build device height which are each less than the transport
device clearance opening allowing second build device to pass
through the transfer device clearance opening on passage of the
transport device through the workstation.
5. The transport system of claim 4 wherein the first build device
comprises a first build fixture and the second build device
comprises a second build fixture.
6. The transport system of claim 5 wherein the second build fixture
is operable to engage and support the component first engaged with
the first build fixture, the second build fixture defining a
clearance operable to allow the first build device to move from a
first position and vertically pass through a portion of the second
build device along the Z axis to a second position thereby
disengaging the component from the first build fixture for
engagement of the component to the second build fixture, wherein on
raising of the lift device along the Z axis, the first build
fixture re-engages the component thereby disengaging the component
from the second build fixture.
7. The transport system of claim 6 wherein the second build device
further comprises: a platform positioned in the workstation, the
platform operable to support the second build fixture.
8. The transport of system of claim 7 further comprising: an AGV
selectively engageable with the platform to selectively position
the second build fixture in the workstation to receive the
component and to selectively remove the second build fixture from
the workstation.
9. The transport system of claim 6 further comprising: a platform
selectively positioned workstation adjacent the path of travel; an
AGV selectively engaged with the platform operable to move and
position the platform in the workstation adjacent the path of
travel; and a programmable robot connected to the platform, the
robot operable to conduct a predetermined process on the component
positioned in one of the first build fixture or the second build
fixture.
10. The transport system of claim 6 wherein the second build device
comprises a second build fixture tool A and a second build fixture
tool B; the second build device further comprising: an AGV
selectively engageable with second build fixture tool A and second
build fixture tool B to alternatively position either second build
fixture tool A or second build fixture tool B in the workstation
for receipt of the component.
11. The transport system of claim 5 wherein the first build fixture
further comprises: an elongate base connected to the mounting
plate: at least two holding arms rigidly connected to the elongate
base; a part support connected to each of the at least two holding
arms, each part support operable to engage the component.
12. The transport system of claim 3 wherein the carrier further
comprises an elongate support device connected to the mounting
plate, the first build device operable to removably engage the
elongate support device.
13. The transport system of claim 3 wherein the carrier further
comprises a support platform defining a plurality of precision
located mounting holes; and a plurality of holding fixture members
connected to the support platform through the mounting holes, the
plurality of holding fixture members operable to engage one or more
components.
14. The transport system of claim 1 wherein the manipulator device
further comprises: a support frame positioned in the clearance
opening; a mounting plate rotatably connected to the support frame
and removably engaged with the carrier, the mounting plate
selectively rotatable about a rotational axis relative to the
support frame; a motor supported by the frame in communication with
the support frame and the control system, the motor operable to
selectively rotate the carrier relative to support frame.
15. The transport system of claim 14 wherein the manipulator device
further comprises a lift device, the lift device comprising: a
guide track connected to each frame side wall extending along the Z
axis, the support frame engaged with each guide track; a motor
supported by the frame in communication with the support frame and
the control system, the motor operable to selectively move the
support frame and mounting plate along the Z axis relative to the
frame.
16. The transport system of claim 1 wherein the sensor and control
system are operable for the transport device to move and navigate
autonomously along the path of travel.
17. A method for transporting and positioning a workpiece at a
workstation, the method comprises: moving a transport device having
a frame and a first build device supporting a workpiece along a
path of travel in communication with a workstation; stopping the
transfer device at a predetermined position at a workstation;
moving the first build device and workpiece relative to the frame
to position the workpiece at a desired location relative to the
workstation for processing of the workpiece.
18. The method of claim 17 further comprising the steps of: passing
a second build device positioned in the workstation along the path
of travel through a clearance opening in the transport device
frame; moving the first build device along a Z axis from a first
position to a second position relative to the second build device;
disengaging the workpiece from the first build device; and engaging
the workpiece to the second build device through movement of the
first build device.
19. The method of claim 18 further comprising the steps of: moving
the first build device along the Z axis from the second position
back to the first position relative to the second build device;
disengaging the workpiece from the second build device; and
re-engaging the workpiece with the first build device following a
predetermined process on the workpiece in the second build
device.
20. The method of claim 18 wherein the second build device includes
a second build fixture tool A and a second build fixture tool B,
the method further comprising the steps of: selectively and
alternatingly moving and positioning a second build fixture tool A
and a second build fixture tool B in the workstation, wherein the
workpiece engages the build fixture tool A or tool B positioned in
the workstation.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application claims priority benefit to U.S. Provisional
Patent Application Ser. No. 62/582,379 filed Nov. 7, 2017 the
entire contents of which is incorporated herein by reference.
TECHNICAL FIELD
[0002] This disclosure relates to transport systems for exemplary
use in moving or transporting components, holding fixtures,
partially assembled products and other items or equipment in an
industrial or logistics complex or assembly line.
BACKGROUND
[0003] Conventional assembly plants and assembly lines employed
large conveyor systems to move components, partially assembled
structures and assembly tooling/fixtures along an assembly line
through sequential stations. These floor-mounted conveyors included
powered rollers or belts which engaged and moved large, heavy
pallets along an assembly path of travel. One example of a powered
pallet transfer system is the VERSAPALLET.RTM. powered transfer
system disclosed in U.S. Pat. No. 6,966,427 owned by the present
assignee and incorporated herein by reference. These powered pallet
systems have evolved to precisely and accurately position the
pallets and supported components in modern assembly and
manufacturing workstations and processes. One example of a powered
pallet transfer system is the VERSACODER.RTM. powered transfer
system disclosed in U.S. Pat. No. 7,108,189 owned by the present
assignee and incorporated herein by reference. Examples of overhead
conveyor systems, including devices for lowering components and
subassemblies supported by the overhead conveyor downward into
fixtures for processing, are described in one or more of U.S. Pat.
Nos. 6,719,122; 6,557,690; 6,564,440; and 6,799,673 all of which
are incorporated herein by reference.
[0004] These conventional assembly or transfer devices included
large, heavy infrastructure, for example floor-mounted rail
structures which supported the pallets carrying the partially
assembled components. In addition to the large, heavy
infrastructure, a disadvantage of floor-mounted or overhead
conveyor systems is that the pallets or component
supporting/holding fixtures are confined to the fixed path of
travel of the conveyor, making it difficult to remove or insert a
pallet or fixture.
[0005] More modern assembly plants increasingly use automated
guided vehicles (AGV's) or automated guided carts (AGC's) to move
components and equipment around assembly facilities. AGV's
generally include sophisticated guidance devices, for example laser
scanners, proximity sensors, GPS and the devices to guide the AGV
along a predetermined course. AGV's are generally more accurate in
following a preprogrammed path or course and stopping at a
predetermined location, for example +/-ten (10) millimeters (mm),
from a target position. As a result of the AGV's increased
maneuverability and accuracy, AGV's are expensive. AGC's and other
devices are less accurate in their maneuverability and accuracy,
but are considerably less expensive than AGV's.
[0006] Even with the increased accuracy of AGV's (+/-10 mm), modern
AGV's are still not accurate enough to use for positioning
components and partially-assembled structures for modern precision
assembly workstations or assembly cell operations. In addition, the
use of AGV's were largely limited to moving components and
equipment from one position to a predetermined destination. At the
destination, a transfer of the partially-assembled component from
the AGV to a fixture or other device directly used for the assembly
process was needed. In such instances, a manipulator, for example
by a robot, was required which requires additional infrastructure,
floor space, time used to transfer, and increases costs to produce
the final saleable product.
[0007] It would be advantageous to employ the use of AGVs, or
AGV-like autonomous devices, to directly position components at
workstations without use of large infrastructure-intensive devices
like conventional pallet conveyors. It would be further
advantageous to accurately and precisely locate components at
workstations without auxiliary, or dedicated, equipment and methods
such as powered manipulator devices such as programmable robots
and/or supplemental positioning devices.
SUMMARY
[0008] Disclosed herein is a transport system and methods. In one
example, a transport device is used to autonomously or
semi-autonomously transfer a workpiece or components along a path
of travel in logistical operations and material supply management.
In one example, the transport device transfers a
progressively-assembled workpiece through several workstations
positioned along, or in communication with, the path of travel. In
one example, the transport device is connected to a carrier in the
form of a first build device which is used to support a workpiece
which is progressively assembled in the workstations.
[0009] In one example of the transport device, the transport device
includes a clearance opening which is sized and oriented to allow
the transport device to pass over a second build device that is
positioned along the path of travel in the workstation. On entrance
of the transport device into the workstation, the clearance opening
allows the second build device to pass through the opening allowing
the first build device to be positioned over the second build
device.
[0010] In one example, the transport device includes a manipulator
device which moves relative to transport device frame to move or
reorient the carrier or workpiece relative to the frame or
workstation. In one example, the manipulator device is a lift
device which lowers the first build device and workpiece such that
the workpiece is disengaged from the first build device and
deposited on the second build device which accurately and precisely
positions the workpiece for assembly or manufacturing operations at
the workstation. On completion of the workstation operations, the
lift device rises vertically to re-engage the first build device
with the workpiece thereby simultaneously disengaging the workpiece
from the second build device. The transport device thereafter
autonomously moves along the path of travel to the next workstation
or destination.
[0011] In one example, the transport device enters the workstation
and the manipulator device simply rotates or reorients the
workpiece rather than lowers and deposits the workpiece on a second
build device.
[0012] In another example, the transport device wirelessly receives
data signals which include instructions or commands which
determine, for example, the transport device's path of travel. The
instructions may be received from a central command center in an
industrial facility or through a local command node, for example,
in one area of an assembly facility.
[0013] These and other aspects of the present disclosure are
disclosed in the following detailed description of the embodiments,
the appended claims and the accompanying figures.
BRIEF DESCRIPTION OF THE DRAWINGS
[0014] The invention is best understood from the following detailed
description when read in conjunction with the accompanying
drawings. It is emphasized that, according to common practice, the
various features of the drawings are not to-scale. On the contrary,
the dimensions of the various features are arbitrarily expanded or
reduced for clarity.
[0015] FIG. 1 is a perspective view of one example of a transport
system in use with an exemplary build device in the form of a first
fixture in a first and a second position.
[0016] FIG. 2 is an alternate perspective view of an example of a
transfer device useful in the system in FIG. 1.
[0017] FIG. 3 is a right end view of an example of the system of
FIG. 1, but alternately including an exemplary second build device
in the form of a second fixture.
[0018] FIG. 4 is a left side view of the example transport system
shown in FIG. 3.
[0019] FIG. 5 is an alternate perspective view of the transport
device shown in FIG. 2.
[0020] FIG. 6 is a schematic block diagram of an example control
system.
[0021] FIG. 7 is a perspective view of an alternate example of the
transport device of FIG. 2 including an example of a first build
device in the form of a first fixture.
[0022] FIG. 8 is a perspective view of an alternate example of the
transport device of FIG. 7 including an alternate example of a
first fixture.
[0023] FIG. 9A is perspective view of an alternate example of the
transport system of FIG. 1 showing an alternate manipulation of the
workpiece.
[0024] FIG. 9B is an alternate perspective view of FIG. 9A.
[0025] FIG. 10 is perspective view of an alternate example of the
transport system of FIG. 1 in use with a workstation including
robots.
[0026] FIG. 11 is a rear end view of the transport system of FIG.
10.
[0027] FIG. 12 is an end view of an example of the transport system
in use with a workstation having elevated, inverted robots at a
workstation.
[0028] FIGS. 13A-13C are schematic plan views of one example
application using two tools per workstation wherein the tools are
used in alternate positions at a workstation.
[0029] FIG. 14 is a schematic flowchart of an example of a method
for transporting and positioning a workpiece at a workstation.
DETAILED DESCRIPTION
[0030] Referring to FIGS. 1-14 examples of a transport system 10
and methods 400 for exemplary uses in transporting components along
a path of travel. In one example or application, the transport
system is useful in transporting a component in the form of a
progressively assembled workpiece to a workstation and then
positioning the workpiece at a workstation for precision work on
the workpiece. In one example, the system 10 is used to transport
and position automobile body components and subassemblies that are
sequentially built through sequentially-positioned workstations
along an assembly line. It is understood that system 10 may be used
in other applications, for example, in manufacturing processes, or
other assembly processes, and other applications where products or
articles are transferred through multi-station process lines.
[0031] In the below examples, it is understood that the transferred
component may include one or more of raw materials, hardware,
consumable assembly supplies or materials, fasteners, partially or
wholly completed parts or subassemblies, assembly or manufacturing
equipment, or other parts, products or materials known by those
skilled in the art. The components may be transported from
place-to-place in an industrial facility, for example, moving
components from, for example, a storage area in one portion of an
industrial facility to an active production assembly line in
another portion of the industrial facility. The present invention
may have other uses and applications as known by those skilled in
the art.
[0032] Referring to FIGS. 1-3, an example of system 10 includes a
transport device 14 shown engaged with a carrier 15. In one example
carrier 15 is a first build device 16 in the form of a first
fixture 18. In the example, first fixture 18 is supporting a
workpiece or article 20, for example the sheet metal underbody
frame for a passenger vehicle. It is understood that other
workpieces or articles 20 may be engaged, supported and transferred
by transport device 14 and system 10. For example, workpieces or
articles 20 may include single components, multiple separate
components, partially completed subassemblies, or completed
products. The workpieces 20 may be other objects and/take other
forms as known by those skilled in the art.
[0033] In one example, system 10 and transport device 14 includes a
predetermined path of travel 24. As further described below,
exemplary transfer device 14 is an autonomous, or semi-autonomous,
device and/or a form of an automated guided vehicle (AGV) wherein,
in one example, preprogrammed instructions as to a route or path of
travel 24 are stored and executed by a control system onboard the
transfer device 14. In an alternate example discussed below,
transport device may not include a predetermined or prestored in
memory path to travel. Alternately, transport device may wirelessly
receive data signals or instructions "on-the-fly" which direct the
direction of movement, rate of travel, or other operations of
device 14.
[0034] As further described below, in the illustrated example, when
the transport device 14 is positioned in a workstation 30,
transport device 14 is operable to reciprocally move the first
build device 16 and workpiece 20 from a first position 34 well
above the floor to a lower second position 40 (shown schematically
in FIG. 1 as a lower zone or volume of space) along a Z axis 60 or
coordinate direction. As best seen in FIG. 3, in the illustrated
example, the second position 40 provides for the automatic
placement or deposit of the workpiece 20 on a second build device
46, shown in the exemplary form of a second fixture 48 (shown
schematically as rectangle volumes in FIG. 1 and an exemplary
holding fixture 48 in FIG. 3). The exemplary second fixture 48
precisely and accurately positions the workpiece 20 in the
workstation 30 in the X axis or coordinate direction 24/56, the Y
axis or coordinate direction 58, and the Z axis or coordinate
direction 60 as generally shown for precision assembly or
manufacturing operations on the workpiece 20. Second build device
46 is shown supported by an exemplary stationary platform 50
rigidly connected to the assembly plant floor. It is understood
that first build device 16, second build device 46 and platform 50
can take any structures forms or orientations to suit the
particular application of system 10 and industrial environment.
[0035] As best seen in FIGS. 2 and 3, exemplary transport device 14
includes a frame 66 having a pair of rails 70 and sidewalls 90 as
generally shown. Transport device 14 further includes a
cross-member 96 connected to the top portions of the side walls 90.
The frame 66 and cross-member 96 define a clearance opening or
through passage 72 through the base 66 along the X axis 56 having a
clearance opening width 76 and a clearance opening height 78.
[0036] Exemplary transport device 14 further includes a pair of
casters 80 and drive wheels 84 (shown in FIGS. 4 and 5) allowing
transport device 14 to roll along the path of travel 24. In one
example, cross-member 96 is box-shaped having an internal cavity
(not shown) having a top 100 to package and securely house the
control system and/or possibly other materials described below. The
exemplary rails 70, side walls 90, cross-member 96, and top 100 are
preferably made from strong, rigid, load bearing materials such as
steel or aluminum. Lighter materials, for example carbon fiber
composite materials, may be used to suit the particular application
and industrial environment. It is understood that frame 66, rails
70 and cross-member 96 may take other forms, shapes,
configurations, sizes, and materials to suit the particular
application and performance requirements as known by those skilled
in the art.
[0037] Referring to FIGS. 3, 4 and 5, exemplary transport device 14
further includes a manipulator device. Manipulator device is
operable to move a carrier 15 relative to the frame 66 and
workstation 30. In two examples discussed below, manipulator device
may take the form of a lift device 108 which is operable to
selectively move the carrier 15, for example the first build device
16, from the first position 34 to the second position 40. In
another example, the manipulator rotates a mounting plate or
support member relative to the frame. Other examples of movement of
the carrier and/or workpiece relative to the frame 66 or
workstation known by those skilled in the art may be used.
[0038] In the example of the manipulator device in the form of a
lift, lift device 108 includes a rigid support frame 110. In the
example shown, support frame 110 is positioned in the opening 72
and extends across opening width 76 ending with guide plates 116 as
generally shown and best seen in FIG. 5. As shown, a mounting plate
130 is connected to the support frame 110. Exemplary mounting plate
130 is used to provide a connection or anchor point for the carrier
15, for example a support device 186 to support frame 110,
discussed further below. In one example, mounting plate 130 is
rigidly connected to support frame 110. In an alternate example of
the manipulator device shown in FIGS. 8, 9A and 9B, mounting plate
130 may rotate relative to support frame 110 about an axis of
rotation 134. In alternate examples of the manipulator device (not
shown), mounting plate 130 may move relative to support frame 110
in other ways, for example, linearly along the X axis 56, Y axis 58
and Z axis 60 directions.
[0039] In one example, manipulator device in the form of lift
device 108 includes a powered drive system (not shown) including a
track 120 extending along the Z axis 60 on an inner surface of both
frame side walls 90 between the first position 34 and the second
position 40. Each exemplary guide plate 116 is engaged with a
respective track 120 which are in communication with a drive
device, for example an electric motor or hydraulic motor and
cylinder, to selectively move the support frame 110 along track 120
between the first position 34 and the second position 40. In one
example, drive device may be positioned in the cross member 96. The
drive device (not shown) and track take many forms, for example
toothed gears engaging a rack positioned along the track 120, a
chain engaged by driven sprockets, toothed belts, cogged pulleys
and/or other drive devices known by those skilled in the art.
[0040] In one example, the manipulator device is powered by one or
more batteries (not shown) positioned in the cross-member 96 cavity
and in electric communication with the manipulator device 108,
drive wheels 84, control system 150 and/or other onboard devices
requiring electric power. Other sources of electricity or power,
for example induction motors, known by those skilled in the art may
be used.
[0041] Referring to FIGS. 1 and 4, exemplary system 10 and
transport device 14 includes one or more sensors 140 having a field
of vision 146 to assist in the navigation and/or object detection
for transport device 14 to move along the path of travel 24. In one
example, sensor 146 is a omni-directional 360 scanner, for example
a laser scanner or LIDAR (light imaging, detection and ranging)
system, which actively scans, monitors and measures distances
between the transport device 14 and distant objects. In the example
shown in FIG. 4, additional sensors 140A and 140B having respective
fields of vision 146A and 146B, may be used on other locations of
the frame 66, cross-member 96 or other areas of transport device 14
to suit the particular application and performance requirements of
system 10. In another example (not shown), interior sensors, for
example on the inside walls 90 in the clearance opening 72, may be
used to detect platform 50 and second build device 46 to guide and
position transport device 14 relative to platform 50 and second
build device 46. In a preferred example, system 10 and transport
device 14 is an autonomous or semi-autonomous device capable of
self-driving movement and navigation based on use of one or more of
the above sensors in communication with the control system 150 and
drive wheels 84.
[0042] Other sensors, for example proximity sensors, ultrasonic
sensors, global positioning satellite (GPS), or local triangular
positioning devices, may be used to assist and/or control the
navigation of transport device 14 known by those skilled in the
art. Where less sophisticated drive and/or sensor systems are used,
for example in automated guided carts (AGC's), other devices, for
example wires or paint on the floor readable by a sensor, may be
used as known by those skilled in the art.
[0043] Referring to FIG. 6, an example of a control system 150 for
system 10 and exemplary transport device 14 is schematically
illustrated. In the example, transport device 14 includes a control
system 150 useful to monitor, navigate the movement and/or location
of transport device 14 along the path of travel 24 as well as
actuate and control movement of the drive wheels 84 and the lift
device 108.
[0044] Exemplary control system includes a microprocessor 152 and a
data memory storage device 154. Exemplary microprocessor or central
processing unit (CPU) 152 is a conventional or specialized computer
processor including an on operating system. The CPU 152 is operable
to receive data, for example to send and receive data or
instructions from the memory storage device, processes the data
according to preprogrammed or stored instructions in its memory and
provide outputs. The electronic data or information memory storage
device 154 may include one or more of common data/information
storage devices to, temporarily and/or permanently, store operating
instructions, software and executable instructions to the processor
152 and/or controllers and actuators 156 to send and receive
signals to and from the various drive or executable devices
discussed above.
[0045] Control system 150 may further include one or more
conventional or specialized controllers and actuators 156 for
controlling and/or monitoring various devices in system 10 or
transfer device 14. One or more of the hardware and software
components may be a part of a larger programmable logic controller
(PLC). Exemplary control system 150 further includes a transmitter
and receiver 158 for sending and receiving wireless signals and
data between the control system 150 and other devices, for example
a local or remote server 174. In one example, control system 150 is
in communication and sends and receives data signals from a local
server as part of a broader control system. One example of an
industrial communication system and method is described in US
Patent Application Publication 2010/0241260 assigned to the present
assignee the entire contents of which is incorporated by reference.
For example, the industrial facility or plant may include a
communication network which may include local area network (LAN)
including, for example, one or more wireless routers for
communication based on an IEEE standard 802.11 (also known as
Wi-Fi), or known hardware for communication based on IEEE 802.03
(also known as Ethernet). Other known communication protocols, for
example BLUETOOTH suitable for an industrial environment may be
used as known by those skilled in the art. These networks may be in
communication with a cloud communication network, for example the
internet, virtual private network, a private network, a
point-to-point network or any other suitable network, or
combinations of networks, known by those skilled in the art.
[0046] Exemplary control system 150 includes one or more buses 170
which allow communication between the various components described
above in control system 150. In the example, the transport device
14 drive wheels 84, lift device 108 and sensors 140, 140A and 140B
are in communication with the control system 150 to activate,
deactivate, monitor and/or control the operation of the actuators,
motors and other devices based on execution of instructions,
pre-programmed onboard the device 14, or as received through
communication of remote instructional devices, for example remote
servers 174. As discussed above, these devices may be powered by a
power source, for example rechargeable batteries or battery packs
stored in the cross-member 96. Additional hardware and software
devices and programs may be used in the control system 150 as known
by those skilled in the art depending on the application and
performance requirements of system 10.
[0047] Referring to FIGS. 1, 2 and 7, an example of system 10 and
transport device 14 is shown with an example of a carrier 15 in the
form of a support device 186 and first build device 16. Support
device 186 is useful to engage and support a first build device 16
as generally shown and described below. In the example, support
device 186 includes an elongate, rigid support bar 190 having a
first end 194 that rigidly or removably connects to the mounting
plate 130 through a gusset or mounting bracket 200 as best seen in
FIG. 1. The exemplary support bar 190 is made from steel, aluminum
or other materials suitable for the particular application.
[0048] It is understood that carrier 15, support device 186,
support bar 190 and first build device 16 can be an integral,
single component or a single device formed from one or more of the
mentioned structures. The carrier 15 and/or support device 186 may
take forms, shapes, sizes, orientations, numbers and constructions
other than elongate support bar 190 as illustrated. In one example
not shown, support bar 190 may be configured to be a "U" or "V"
shape providing a platform or support surface for a container or
other carrying device, for example, loose components or raw
materials, as discussed further below.
[0049] As best seen in FIG. 2, the exemplary carrier 15 in the form
of a support bar 190 may further be in the form of an elongate,
rigid bar including a second end 206 and one or more connectors 210
which provide a connection or anchor point for the first build
device 16 further described below. The connectors 210 can take many
forms which provide a secure mechanical attachment between the
support bar 190 and the first build device 16. The connectors 210
can alternately provide a permanent, removable or quick-release
type connection to engage first build device 16. Mechanical bolts,
mounting studs or locking pins are examples of a removable
connector 210. Other forms for connector 210 may be used as known
by those skilled in the field. In one example best seen in FIG. 1,
a guide 236 is used to assist in the positioning of the support
device 186, for example elongate support bar 190, along the Y
direction 58. Exemplary guide 236 may include two rigid bars
connected to platform 50 extending upward along the Z axis 60
defining a vertical slot to receive and guide bar 190 as the lift
device 108 moves between the first position 34 and the second
position 40. Rollers or other devices (not shown) may be included
to further guide and/or reduce friction and/or wear between the
abutting components. Other guide and positioning assist devices,
positioned on platform 50 or support device 186, may be used to
suit the particular application.
[0050] In the preferred example, transport device 14 includes the
carrier 15 connected to the manipulator device. In a preferred
example discussed below, carrier 15 is a first build device 16
further described below. In an alternate example (not shown)
carrier 15 can take the form of a container. In the example, the
container may be a rigid holding crate or other shipping or
transport container useful to temporarily store loose components
described above to be transported by transport device 14 from one
location to another.
[0051] In one exemplary container, the container is a rigid,
rectangular shipping crate having an open top allowing easy loading
and unloading of loose components identified above. In one example,
standard industrial assembly plant shipping crates can be quickly
connected to support device 186, for example by a robot or
forklift, so transport device can transport the materials to a
desired location, for example, from an assembly plant warehouse
area to an active assembly line for use in assembly operations.
Where the carrier or support member 186 is in a "U" or "V"
configuration, the shipping crate can be placed atop of the carrier
15 or mechanically secured through connection devices 210 described
above. It is understood that the support device 186 can be integral
with carrier 15. For example, the carrier 15 may be easily
connected to the storage crates which are then easily connected to
the device 14 mounting plate 130. Other carriers 15 having
different sizes, shapes, orientations, connection schemes known by
those skilled in the art may be used.
[0052] In the FIG. 7 example, carrier 15 is, or includes, a first
build device 16 in the form of a first fixture 18. First fixture 18
is shown engaged with the support bar 190 through connectors 210 in
a manner described above. Exemplary first fixture 18 is a
subassembly holding fixture including base 212 in the form of an
elongate rigid rod or bar. It is understood that base 212 can be
integral with bar 190 (a single bar 190 also serves as base 212).
First fixture 18 further includes a plurality of arms 218 connected
to the base and part supports 224 connected to the arms 218.
Depending on the application and required engagement between part
supports 224 and workpiece 20, part supports 224 can take many
forms and orientations such as a horizontal support surfaces,
hooks, power-actuated clamps in communication with control system
150, or other static or actuated devices needed for support and/or
secure engagement with the respective portion of workpiece 20. Arms
218 and part supports 224 are made from steel, aluminum or other
materials suitable for the application. The number, location, size,
configuration and orientation of first fixture 18, first fixture
arms 218 and 224 will vary depending on the workpiece 20 the
support device 186 is designed to accommodate.
[0053] In alternate examples of first build device 16 (not shown).
First build device 16 can take the form of other holding fixtures
for transporting individual components or articles by transport
device 14. For example, first build device 16 can include a flat-or
multi-level sheet of steel or aluminum with precision-positioned
holes (for example a grid pattern having precision aligned holes
100 mm apart) and individual brackets or tooling for positioning
individual assembly components, subassemblies, tooling and/or
equipment relative to the steel sheet. The precisely positioned
components can be removed from the first build device 16 by a robot
or other manipulator to support assembly operations at the
workstation or other processes. Other holding fixtures, welding
fixtures, component assembly or positioning devices, tooling,
equipment end effectors, equipment maintenance devices, for example
weld tip dressing tools, and/or tooling can serve as the first
build device 16 or the second build device 46 to suit the
particular application.
[0054] Other examples of devices that can be included or supported
on the first build device 16 or the second build device 46 are
described in US Patent Application Publication Number 2015/0128719
the entire contents of which is incorporated herein by reference.
For example, where the transport device is used in an assembly line
equipment maintenance capacity, replacement end effectors, weld gun
tip dressers, processing testing equipment, for example weld gun
test coupons, may be positioned on carrier 15 or first fixture 18.
In another example, process evaluation or maintenance equipment
maybe be mounted to carrier 15 or first build device 16. For
example, cameras or other imaging devices may be mounted to carrier
15 and transported to a desired location and workstation to image
or otherwise record a process cycle to ensure the process is
conducted according to design specifications. Other carriers 15,
first build devices 16 and first fixtures 18 may be used to suit
the particular application and as known by those skilled in the
art.
[0055] Referring to FIG. 8, an alternate example of the manipulator
device and carrier 15 is shown. In the example, carrier 15 in the
form of a first build device 16 includes an alternate first fixture
18A used to vertically suspend workpiece 20 below the first build
device 16 along the Z axis 60 as generally shown. Alternate first
fixture 18A includes alternate arms and part supports as generally
described for FIG. 7 above. Where a second build device 46 (not
shown) is used and positioned on platform 50, the work supports may
include powered actuated clamps, hooks or other articulatable
engagement devices in connection with control system 150. Once
workpiece 20 is engaged with the second build device 46, the work
supports would be actuated to release engagement with workpiece 20.
In another example, the parts supports may continue engagement with
the workpiece, but allow flexibility of movement so the workpiece
can fully engage second build device 46 for accurate and precise
positioning and orientation of workpiece 20 in the X, Y and Z axis
directions on the second build device 46 for predetermined
processing at the workstation 30.
[0056] In one example not shown, one or more sensors may be used to
determine the location of the carrier 15, or of the arms and/or
part supports, to monitor the respective positions of the carrier,
respective arms, part supports or the workpiece. For example, on
visual determination that the workpiece is engaged with the second
build device 46, the part support actuators could be actuated (or
opened) allowing disengagement of the workpiece 20 from the first
fixture 18 allowing the lift device 108 to raise or otherwise move
the first fixture 18 out of the way so predetermined processing can
take place on the workpiece, for example by programmable robots
disclosed below. Exemplary sensors may include cameras or other
optical imaging devices. Other sensors known by those skilled in
the art may be used.
[0057] Referring to FIGS. 9A and 9B, an alternate transport system
10A is illustrated. In the example, the transport device 14A is
similar to that described above, but with an alternate manipulator
device 108A and no use of a second build device 46. In the example
as best seen in FIG. 9A, alternate manipulator device 108A provides
for rotation of mounting plate 130 about an axis of rotation 134 to
selectively reorient carrier 15 in the form of the first build
device 16 and workpiece 20 relative to the frame 66 and/or
workstation 30. One exemplary application is to reciprocally rotate
workpiece 20 in the workstation 30 to provide additional access or
clearance to inspect the workpiece 20 by an operator as generally
shown. Alternate manipulator device 108A may also include lift
device 108 to reciprocate between the first position 34 and the
second position 40 along the Z axis 60 as previously described for
lift device 108.
[0058] In the example of alternate manipulator device 108A,
mounting plate 130 (and carrier 15) is operable to rotate relative
to support frame 110. In an alternate example, mounting plate 130
includes structures, for example planetary gears or journal
bearings to engage carrier 15, for example support member 186,
thereby allowing support member 186 to rotate relative to mounting
plate 130. A drive motor (not shown) is in communication with the
control system 150 and is engaged with the rotating component to
ultimately rotate carrier 15 as generally shown. Other structures,
components and devices for rotating carrier 15, for example first
build device 16, known by those skilled in the art may be used.
[0059] Referring to FIGS. 3 and 4 one example of operation of
system 10 and transport device 14 including a first build device 16
in the form of the above-described first fixture 18 and a second
build device 46 in the form of a second fixture 48 is shown. In the
example, transport device 14 is preprogrammed, or otherwise
receives data signal instructions in real time through wireless
communication in one of the forms described above, to move along
the predetermined path of travel 24, 56. In the example where
transport device 14 is in the form of an autonomous or
semi-autonomous AGV, the transport device 14 is logistically
monitored and/or navigated through use of sensors 140, 140A, and
140B in communication with control system 150. In an alternate
example, transport device 14 may not be preprogrammed with onboard
instructions in the control system 150 with a predetermined path of
travel. In this alternate example, the transport device 14 may
receive wireless data signal instructions in real time (or close
thereto) from a local or central plant control system to guide the
transport device 14 along a desired path of travel. For example,
the transport device 14 course or path of travel can be altered
"on-the-fly" by receipt of data signal instructions which change or
alter the path of travel from a prior destination to an alternate
destination to pick-up or transport materials to better support
plant or assembly operations.
[0060] In the example illustrated, when transport device 14 is
positioned along the path of travel 24 between workstations 30,
first build device 16 and workpiece 20 are located at the first
position 34. As transport device 14 enters exemplary workstation
30, the second build device 46 is positioned along the path of
travel 24, and is sized and oriented, to pass through transport
device clearance opening 72 as the frame 66 continues to move along
the path of travel 24. Through use of sensors 140, 140A, 140B,
other sensors (not shown), or other position locating system, for
example a closed-loop feedback system incorporated in control
system 150 and/or an industrial plant central control center, the
transport device 14 stops movement along the path of travel 24
positioning first build device 16 in the position shown in FIG. 4,
positioned above second build device 46.
[0061] On verification of the proper position of transport device
14 and/or first build device 16 relative to the workstation 30
and/or second build device 46, the lift device 108 is actuated by
control system 150 to lower support frame 110 along the Z axis 60
from the first position 34 to the predetermined second position 40
as best seen in FIG. 3. In the example, the first build device 16
and the second build device 46 are configured such that on movement
of the first build fixture 16 between the first position 34 and the
second position 40, there is clearance defined by the second build
device 46 such that there is no physical contact or interference
between the first build device 16 and the second build device 46.
In the example, on moving transition of the first build device 16
between the first position 34 and the second position 40, the
second build device, for example second holding fixture 48, engages
the workpiece 20 (shown in dashed line in FIG. 3) which
simultaneously disengages the workpiece 20 from the first fixture
18. In one example, precision locating pins 230 are located on the
arms or part supports of the second fixture 48 which engage
precision located holes in the workpiece 20. Other mechanical
devices other than locating pins 230 may be used to engage and
position workpiece 20 relative to the second build device 46 as
known by those skilled in the field. In the example, the first
fixture 18 would continue to lower in the Z direction 60 after
disengagement to, for example, provide additional clearance or
avoid interference with the workstation operations.
[0062] In the FIG. 3 example, second build device 46 is positioned
in the workstation 30 in a known, accurate and precise location in
the X coordinate or axis 56, the Y coordinate or axis 58, and the Z
coordinate or axis 60 relative to the workstation 30 and process
equipment positioned therein. In one example, second build device
46 can position workpiece 20 within +/-(0.15) millimeters (mm) from
a target or predetermined design position. Other dimensional
variations from a target position may be used or achieved depending
on the form or configuration of system 10 and transport device 14.
It is understood that second build device 46 and second fixture 48
can take other forms, shapes, sizes (within the size of the
clearance opening 72), orientations and structures to suit the
particular application.
[0063] Equally, the construction and configuration of the exemplary
second build device 46 and second fixture 48, for example arms and
part supports, which engage and support workpiece 20 to position
and orient workpiece 20 in a known, accurate and precise location
in the X coordinate or axis 56, the Y coordinate or axis 58, and
the Z coordinate or axis 60 relative to the workstation 30. On
completion of the predetermined work processes on the workpiece 20
at the workstation 30, the control system 150 actuates, for example
electric motors described above, and begins to raise the lift
device 108 to re-engage the first build device 16 (for example
first fixture 18) and disengage the workpiece 20 from the second
build device 46 to reposition the lift device and workpiece 20 at
the first position 34.
[0064] On confirmation or verification that the lift device 108 has
returned to the first position 34 and/or the first build device 16
has re-engaged work piece 20, control system 150 actuates the drive
wheels 84 to continue movement of the transfer device 14 along the
path of travel 24 to the next predetermined workstation 30 or other
destination. Although path of travel 24 has been described as along
an X axis, it is understood that the system 10 and device 14 path
of travel can take forms other than a linear path. In the example
of transport device 14 in the form of an AGV, an almost unlimited
number of paths of travel 14 can be predetermined, or
self-navigated by device 14, or guided by real-time wireless
instructions, by the transport device 14 through use of sensors
140, 140A, 140B and other sensors and navigating devices and
systems described above. In one example, a substantial portion of
the path of travel 24 may be linear, for example along a long,
continuous assembly line. Alternately, path of travel 24 can have
curved portions, for example moving from one linear assembly line
to another, or for example, from an assembly line to another area
of the assembly facility. For example, if an error is detected in
the process, the transfer device 14 can be instructed/directed
through receipt of data signals described above to alter its prior
programmed (or non-programmed) path of travel and move to an
inspection area adjacent to, or remote from, the assembly line path
of travel 24.
[0065] Referring to FIGS. 10 and 11, exemplary transport system 10
is shown in use with exemplary process equipment at a workstation
30. In the example, a transport device 14 including a first build
device 16 is used with a second build device 46 generally described
above. In the FIG. 11 example, second build device 46 (for example
second fixture 48) is positioned on an alternate platform 50A which
is movable in the X direction 56 and the Y direction 58 through use
of an independent AGV 280. AGV 280 and platform 50A may also move
the second build device in the Z axis 60 direction to suit the
particular application. It is understood that second build device
46 can be positioned and secured to a stationary platform 50 as
previously described.
[0066] In the example illustrated, exemplary AGV 280 may
selectively engage platform 50A and move the platform 50A and
connected second build device 46 to a selected position along the
path of travel 24 or other location in the workstation 30.
Connection or engagement mechanisms between the AGV and the
platform 50 may include engagement pins that are actuated to rise
and engage coordinated holes or areas of the platform 50 to raise
and lower the platform 50 relative to the AGV 280 to position and
move platform 50A as needed. Other engagement devices between the
AGV 280 and the platform 50A may be used to suit the particular
application as known by those skilled in the art.
[0067] For example, a plurality of second build devices 46 and
platforms 50A can be built and configured so selected second build
devices 46 are specific to or designed for a workpiece, product or
article A, and some built and configured for a different workpiece,
product or article B. The AGV 280 can be preprogrammed or
wirelessly instructed to engage, maneuver, insert and position the
proper second build device 46 into the path of travel to
accommodate the predetermined industrial plant build sequence of
workpieces, products or articles, for example, different vehicle
body styles, to meet varying production demand. Equally and
alternately, system 10 and transport devices 14 can be selectively
transferred to locations or workstations where the appropriate
second build device 46 is positioned to coordinate with the
workpiece 20 carried by the transport device 14. This provides
significant flexibility to assembly process facilities and is
efficient in the floor space and configuration of the industrial
facility.
[0068] In the FIGS. 10 and 11 example, system 10 and workstation 30
includes two sets of platforms 260 supporting programmable robots
266 and associated robot controls cabinets 276 (three robots 266
and control cabinets 276 shown on each platform 260 for each side
of the path of travel 24). In the example illustrated, the
platforms 260 are selectively engageable and positioned adjacent
the system 10 path of travel in a workstation 30 through use of
independent AGV's 280A as previously described for AGV 280. In the
example, platforms 260 may move perpendicular to the path of travel
direction 24, 56 along Y axis 58 or parallel to the path of travel
direction 24, 56. In one example, on a workpiece or model switch to
an alternate workpiece or model, different process equipment, for
example alternately programmed robots 266 or other assembly or
manufacturing process equipment can be autonomously, or
semi-autonomously, moved into the workstation 30 and adjacent to
the path of travel 24 by the AGV's 280A for predetermined process
engagement with workpiece 20 positioned on the first build device
16 or the second build device 46. For example, one set of robots
may conduct processes on workpiece 20 while the workpiece 20 is
engaged with the first build device 16 at the first position 34
(shown in FIG. 11). In the same workstation 30, the workpiece 20
can be lowered or reoriented by transport device 14 lift 108 to the
second build device in the manner described above for additional
operations on workpiece 20 by alternate robots or equipment.
[0069] In one example, platforms 260, robots 266 and control
cabinets (or control systems) may be modular, self-contained
systems wherein the platform or pallet 260 and installed process
equipment is prebuilt, pre-tested or validated away from the
assembly line and delivered to the plant facility. The modular
platform is then delivered to the workstation, connected to a power
source and placed in communication with the control system (by
hardwire or wireless) and rendered production ready with little or
no downtime of the assembly process. One example of the described
modular application equipment pallets or modular assembly tool
devices are described in United States Patent Application
Publication Number 2016/0167724 assigned to the present assignee
and the entire contents incorporated by reference.
[0070] In one example not shown, safety fencing (not shown) may be
positioned perpendicular to the assembly line on either side of the
workstation 30 (extending outwardly along the Y coordinate
direction 58). Further, a portion of safety fencing (not shown) may
be connected to the platform 260 extending along the outboard side
parallel to the path of travel direction 24, 56. On moving of the
platform 260 into the workstation 30 and adjacent to the path of
travel 24, the perpendicular-positioned fencing and the fencing
connected to the platform 260 form a three-sided safety fence
structure to prevent unauthorized access to the robots 266 and
control cabinets 276. Other safety fencing or safety structures may
be used to suit the particular application. In an alternate
example, other safety devices, for example sensors may be installed
to the platforms 260 to detect unauthorized objects within a
certain area of workstation. On detection of an unauthorized object
within a perimeter or field of vision of a safety sensor, the
control system 150 or control system of the robots 266 may stop
movement and production process until the detected object is no
longer detected or a signal is received that it is safe to
recommence operations in the workstation 30.
[0071] In an alternate example, the platforms 260 and robots 266
can be permanently or semi-permanently stationed or secured in a
particular workstation 30 so as to conduct the same or similar
processes on predetermined workpieces 20 that the system 10
transfers into as described in the above examples. It is understood
that other process equipment other than programmable, multi-axis
robots 266 and platforms 280A may be used with, or included in,
system 10.
[0072] Referring to FIG. 12, an alternate application of transport
system 10 is illustrated. In the example, the process equipment,
for example programmable process robots 266, are positioned on
overhead structures rather than at ground level through platforms
260 as described for FIGS. 10 and 11. In the example, an overhead,
rigid scaffold-type frame structure 284 may be used to support
inverted robots (schematically shown as 266A) to conduct work on
the workpieces transferred through workstation 30 by system 10 and
devices 14 as described above. One example of an overhead scaffold
or support structure is described in U.S. Pat. No. 8,201,723
assigned to the assignee of the present invention and incorporated
herein by reference. Other infrastructure or devices for supporting
robots or other assembly or manufacturing equipment may be used to
suit the particular application.
[0073] Referring to FIGS. 13A-13C an exemplary use of system 10
along path of travel 24 is illustrated. In the example, two
different sets of tools or second fixtures 48 are used to service a
single workstation 30 (two workstations 30 shown). Each workstation
30 is equipped with a second fixture 48 in the form of tool A 48A
and a second fixture 48 in the form of a tool B 48B.
[0074] The second fixture tool A 48A and second fixture tool B 48B
are supported by platforms 50A (not shown in FIGS. 13, but see FIG.
11) and reciprocally moved, for example by AGVs 280, along path of
travel 24 into and out of workstation 30 where the exemplary
platforms 260 supporting exemplary robots 266 are positioned to
conduct predetermined work on workpieces 20 transported by
transport devices 14 (shown in dashed line) as previously
described. Second fixtures 48 tool 48A and 48B maybe be moved into
and out of the workstation 30 by a respective AGV 280 previously
described and illustrated in FIG. 11. Other powered devices may be
used to move the second fixture tools 48A and 48B into and out of
the workstation 30. For example, a powered roller or belt drive
system or shuttle (not shown) engaged with a respective tool A or
B, as known by those skilled in the field.
[0075] Referring to FIG. 13A, the workstations 30 each have
received a second fixture tool A 48A adjacent to the robot
platforms 260 (each tool A 48A moved from right to left in FIG,
13A). Second fixture tool A 48A's may be moved to the workstation
30 based on a predetermined work or production schedule sequence,
or other predetermined metric. The instructions or signals to
monitor, initiate and control movement of the second fixtures 48
tools 48A and 48B may be coordinated and executed by a local
communication system, for example in each workstation 30 control
system (not shown), locally per an assembly line, or remotely
through a plant facility central control system (see central server
174 in FIG. 6). Sensors (not shown) may be used along with the
control system to monitor the movement and position of the second
fixtures 48 as they move into and out of respective workstations
30. One example of an industrial communication system and method
for monitoring and controlling movement of the transfer devices 14
and device for reciprocally moving second fixture tools 48A and 48B
is described in US Patent Application Publication 2010/0241260
which is incorporated by reference.
[0076] Referring to FIG. 13B, an alternate example of second
fixture 48 tools 48B are moved to the respective workstation 30
(tools 48 B moving from left to right from the position shown in
FIG. 13A) following movement of tools 48A out of the workstation 30
(tools 48A moving from left to right from the position shown in
FIG. 13A). One example for changing the second fixtures 48 from
tool A to tool B include changing of assembly production from a
vehicle model A to a vehicle model B. As described above for FIG.
11, the platforms 260 and associated robots 266 may also change and
move into and out of workstation 30 to accommodate which workpiece
20 is entering the workstation 30. Coordination, activation and
execution of the equipment in workstation 30 at a particular time
can be instructed, monitored and controlled by local or remote
control systems as described above.
[0077] Referring to FIG. 13C, another example application and
operation for system 10 is shown. In the example, one workstation
30 includes second fixture tool A 48A (workstation to the left in
FIG. 13C) and one workstation 30 includes second fixture tool B 48B
(workstation to the right in FIG. 13C). Other combinations, and/or
alternate or additional second fixture tools 48 may be used to suit
the particular application.
[0078] Referring to FIGS. 13A-13C, illustrated is a third transport
device 14A positioned between the two sequential workstations 30.
In this middle position, transport device 14A is preferably not
being processed by robots 266 or other devices, but is waiting in
line or queue to travel into the next workstation 30 (to the left
as shown in FIG. 13A). This extra or waiting travel device 14A, may
provide for inspection, or sub-processing operations, or be
eliminated, depending on the application.
[0079] Referring to FIG. 14, an example of a method 400 for
transporting materials and/or transporting and positioning a
workpiece 20 at a workstation 30 is shown. In the example first
step 410, a transport device (for example 14) including a first
build device (for example first build device 16 and first fixture
18) is moved along a path of travel (for example 24).
[0080] In an exemplary second step 420, the transport device 14 is
stopped at a workstation 30. In the examples described above,
positioning and stopping of transport device 14 at a predetermined
position in the workstation 30 is monitored and executed by control
system 150.
[0081] In one method example step 430, the transport device 14
causes the first build device 16 and workpiece 20 to move relative
to the workstation 30, for example lowering in the Z axis 60 or
rotating the workpiece about a rotational axis 134 by lift 108 as
described above.
[0082] In an alternate additional method step 405 where a second
build device 46 is positioned along the path of travel 24, on
moving the transport device 14 into the workstation 30, the second
build device 46 passes through clearance opening 72 in the
transport device 14 as described above.
[0083] In an optional additional method stop 435, moving the
workpiece 20 relative to the workstation includes the additional
step(s) of moving the first build device 16 and workpiece 20 from
the first position 34 to the second position 40, thereby depositing
the workpiece 20 into the second build device 46 and disengaging
the workpiece 20 from the first build device 16 as described above.
In example method step 435, additional method steps (not shown)
include conducting processing on the workpiece 20 and returning the
first build device 16 to the first position 34 thereby re-engaging
workpiece 20 as described above prior to the control system
reactivating the drive wheels 84 to recommence movement of
transport device 14 along the path of travel 24 to the next
predetermined workstation 30 or other destination.
[0084] It is understood that additional or fewer of the above
described method steps may be used, and may occur in a difference
order sequence than that described above depending on the
application as known by those skilled in the field.
[0085] While the invention has been described in connection with
certain embodiments, it is to be understood that the invention is
not to be limited to the disclosed embodiments but, on the
contrary, is intended to cover various modifications and equivalent
arrangements included within the scope of the appended claims,
which scope is to be accorded the broadest interpretation so as to
encompass all such modifications and equivalent structures as is
permitted under the law.
* * * * *